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mc_att_control_main: remove unused _rates_sp_prev

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Beat Küng 2018-02-19 16:10:07 +01:00 committed by Lorenz Meier
parent f346b00ee0
commit 5b7c062f67
1 changed files with 0 additions and 3 deletions
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3
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -174,7 +174,6 @@ private:
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
math::Vector<3> _rates_sp_prev; /**< previous rates setpoint */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
math::Vector<3> _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
@ -418,7 +417,6 @@ _loop_update_rate_hz(initial_update_rate_hz)
_rates_prev.zero();
_rates_prev_filtered.zero();
_rates_sp.zero();
_rates_sp_prev.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
@ -1036,7 +1034,6 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
rates_d_scaled.emult(rates_filtered - _rates_prev_filtered) / dt +
_params.rate_ff.emult(_rates_sp);
_rates_sp_prev = _rates_sp;
_rates_prev = rates;
_rates_prev_filtered = rates_filtered;